CN110405781A - It is a kind of for the mechanical arm of playing chess of man-machine chess, its control system and method - Google Patents
It is a kind of for the mechanical arm of playing chess of man-machine chess, its control system and method Download PDFInfo
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- CN110405781A CN110405781A CN201910634882.XA CN201910634882A CN110405781A CN 110405781 A CN110405781 A CN 110405781A CN 201910634882 A CN201910634882 A CN 201910634882A CN 110405781 A CN110405781 A CN 110405781A
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- chess
- motor
- cylinder
- telescopic rod
- man
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of portable mechanical arm of playing chess, its control system and methods for man-machine chess, the arm of playing chess includes pedestal, the vertical shaft being movably arranged on pedestal, the side in vertical shaft is equipped with first motor on the base, first pulley is installed in first motor, second belt wheel is installed on vertical shaft, connects the transmission belt of first pulley and the second belt wheel；Rotatable lead screw transmission mechanism is connected on the column, the chess cylinder that the lower part for storing chess piece is equipped with opening is connected in the lead screw transmission mechanism, the chess cylinder can move along a straight line with the transmission of lead screw transmission mechanism, the lead screw transmission mechanism, which is connected with, cooperates the telescopic rod for releasing chess piece with chess cylinder bottom opening, and telescopic rod is connected with third motor.The controller system further includes computer, controller, current sensor, alarm lamp.The present invention provides the methods using above system.The present invention can be realized that automation begins, production cost is low, the light portable, stabilization of beginning of device.
Description
Technical field
It plays chess mechanical arm, its control system and method more particularly to a kind of for man-machine chess's the present invention relates to one kind
Portable mechanical arm of playing chess, its control system and method.
Background technique
Worldwide simultaneously in AI software of playing chess, the matched hardware facility of the AI that plays chess but still is gone no further.Under use
Chess AI, either discs still play a game, user all must by computation, and high dispensing computer in a large amount of calculate often
Biggish noise is generated, biggish interference can be produced to user.Further, since main study crowd low age significantly of playing chess
Change, watching computer screen attentively for a long time also has larger harm to the eyesight of youngsters and children group.It designs and manufactures general-purpose type
Manipulator of playing chess has high practical value and bright market prospects.
Existing manipulator generally existing following problems in use of playing chess: volume is big, quality is big, inconvenient to carry, cost
It is high, stability of beginning is bad, the mechanical arm that causes to play chess not can enter multifarious average family.
Summary of the invention
Goal of the invention: one of purpose of the invention is to provide a kind of portable machinery of playing chess for man-machine chess
Arm, which begins, and stable, easy to carry, control is simple；
It is a further object to provide a kind of control systems of portable mechanical arm of playing chess for man-machine chess；
It is also another object of the present invention to provide a kind of control systems of portable mechanical arm of playing chess for man-machine chess
Utilization method.
Technical solution: first goal of the invention, the portable mechanical arm of playing chess for man-machine chess of the invention, packet are directed to
Pedestal is included, the vertical shaft being movably arranged on pedestal, the side in vertical shaft is equipped with first motor, the first electricity on the base
First pulley is installed on machine, the second belt wheel is installed on vertical shaft, connect first pulley and the second belt wheel for make vertical shaft with
The rotation of first motor and the transmission belt rotated；The screw rod transmission machine that can be rotated with the rotation of column is connected on the column
Structure is connected with the chess cylinder that the lower part for storing chess piece is equipped with opening in the lead screw transmission mechanism, and the chess cylinder can be with screw rod
The transmission of transmission mechanism and move along a straight line, the lead screw transmission mechanism, which is connected with, releases chess piece with the cooperation of chess cylinder bottom opening
Telescopic rod, telescopic rod are connected with third motor.
Preferably, the lead screw transmission mechanism includes the second motor, is connected with screw rod on the second motor, is set on screw rod
The sliding block that can be moved along a straight line with the rotation of screw rod, the sliding block connect chess cylinder.
Preferably, the driving member of the lead screw transmission mechanism is connected with the connecting plate for being respectively used to installation chess cylinder, telescopic rod,
The chess cylinder, telescopic rod are moved synchronously with connecting plate.
Preferably, the opening of the chess cylinder is set on the opposite two sidewalls in bottom, and the opening of two sidewalls forms through-hole, institute
The outside that telescopic rod is set to chess cylinder is stated, the end of telescopic rod is matched with an aperture position on chess cylinder side wall, telescopic rod
By end to be reached to the opening of chess cylinder after third motor driven, chess piece is pushed outwardly from through-hole.
Preferably, the via height that the opening is formed is no more than the height of two pieces of chess pieces superposition.
Preferably, the opening of chess cylinder is downward set on bottom, is respectively equipped with inclination on the opposite two sidewalls of chess cylinder opening
There are the elastic slice for carrying chess piece weight in gap among placing, chess piece is set on elastic slice；The telescopic rod is set in chess cylinder
Portion, chess piece is stationary under the blocking of two elastic slices, and when extending downwardly after telescopic rod is by third motor driven, it is logical to squeeze chess piece
The gap crossed between two elastic slices is released downwards by chess piece from bottom.
Preferably, it is provided with the blind hole for being inserted into the lower end of vertical shaft on the pedestal, is equipped in the blind hole diagonal
Contact bearing, the vertical shaft rotate in blind hole in such a way that angular contact bearings carry out hole axle cooperation.
For above-mentioned second goal of the invention, the present invention provides have the above-mentioned portable chess-playing computer for man-machine chess
The control system of tool arm further includes sequentially connected computer, controller；The controller respectively with first motor, second electricity
Machine, the connection of third motor；First motor, the second motor, third motor are connect with current sensor respectively, the controller difference
It is connect with current sensor, alarm lamp；The controller, current sensor, alarm lamp are separately mounted on pedestal；The calculating
Machine contains mating chessboard coordinate program.
For above-mentioned third goal of the invention, the present invention provides it is a kind of using it is above-mentioned for man-machine chess it is portable under
The method of the control system of chess mechanical arm, comprising the following steps:
(S1) computer sends a command to controller according to the mating chessboard coordinate program coordinate signal that will begin；
(S2) controller sends the angle of order-driven first motor rotation setting, and it is corresponding that chess cylinder is moved to coordinate of beginning
Chessboard polar angle；
(S3) controller sends the second motor of order-driven and rotates corresponding revolution, makes the linear motion of screw rod that chess cylinder be driven to do
It is linearly moved to coordinate corresponding position of beginning；
(S4) controller, which sends order-driven third motor, makes telescopic rod that will be contained in the chess piece begun in cylinder from opening
Middle release；
(S5) controller sends order-driven first motor, the second motor, third reset motor.
Preferably, when the monitoring control devices are greater than preset value to the current value that current sensor detects, alarm lamp is driven
Shine early warning.
The utility model has the advantages that compared with prior art, the present invention can achieve the following beneficial effects: 1, by motor, transmission belt,
The cooperation of vertical shaft, screw rod slide block mechanism, telescopic rod, which links, to be used, and realizes that automation begins, production cost is low, device is light easily
It takes, stable goal of the invention of beginning.2, by monitoring control devices size of current, the supervisory function bit to mechanical arm failure is played, is had
The damage for imitating avoiding device, prevents security risk.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is main view of the invention；
Fig. 3 is left view of the invention；
Fig. 4 is the partial structure sectional view in the present invention；
Fig. 5 is that a kind of chess cylinder and Telescopic rod structure of the invention cooperate schematic diagram；
Fig. 6 is that another chess cylinder and Telescopic rod structure of the invention cooperate schematic diagram；
Fig. 7 is control system architecture figure of the invention.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawings of the specification.
It please refers to shown in Fig. 1-4, in which: 1- pedestal, 101- pedestal blind hole, 102- angular contact bearing, 103- whorl of base
Hole, 2- vertical shaft, first shaft shoulder of 201-, second shaft shoulder of 202-, 203- axis external screw thread, 3- end cap, 4- horizontal mounting plate, 5- first
Motor, 6- horizontal mounting plate, 7- first pulley, 8- transmission belt, the second belt wheel of 9-, 10- Nut column, 11- stop nut, 12- are led
Rail mounting plate, the second motor of 13-, 14- screw rod, 15- sliding block, 16- connecting plate, 17- chess cylinder, 18- telescopic rod, 19- telescopic rod peace
Loading board, 20- third motor, 21- opening, 22- elastic slice, 23- push plate.
The invention discloses a kind of portable mechanical arm of playing chess for man-machine chess, including pedestal 1 and it is mounted on pedestal 1
On vertical shaft 2, have end cap 3 between pedestal 1 and vertical shaft 2；The side of vertical shaft 2 is fixed with the horizontal mounting plate 4 being threadedly engaged, level
Mounting plate 6 is equipped with first motor 5 between horizontal mounting plate 4 and horizontal mounting plate 6, be direct current generator；First motor 5 it is defeated
Axis connection first pulley 7 is connect by rotation band 8, the second belt wheel 9 with vertical shaft 2 out, and the diameter of the second belt wheel 9 is greater than first pulley
7；Nut column 10 is installed, Nut column 10 is connect with guide rail splice 12, stop nut 11 on second belt wheel 9；Guide rail splice
12 are fixedly connected with the second motor 13, and the second motor 13 is stepper motor, pass through screw rod 14 on the second motor 13 and are fixedly connected with cunning
Block 15；L shape connecting plate 16 is fixedly installed on sliding block 15, L shape connecting plate 16 is fixed with chess cylinder 17, telescopic rod mounting plate 19 respectively
Connection；19 corresponding matching of telescopic rod mounting plate is equipped with third motor 20, and third motor 20 is connected with telescopic rod 18；This implementation
The chess cylinder 17 of example is equipped with opening 21 on the opposite two sidewalls in bottom, and the opening 21 of two sidewalls forms through-hole, and the height of through-hole is excellent
It is selected as equal with the height of one piece of chess piece, so that the chess piece for being exposed to opening in chess cylinder 17 is only one piece, telescopic rod 18 is every time only
One piece of chess piece can be released from opening or the height of through-hole is no more than two pieces of superimposed height of chess piece；The present embodiment
Telescopic rod 18 is electric linear push rod, is set to the outside of chess cylinder 17, on the push rod end of telescopic rod 18 and 17 side wall of chess cylinder
One aperture position matches, and end is reached the opening of chess cylinder 17 by telescopic rod 18 after being driven by third motor 20, will locate
It is released in the chess piece of opening, the chess cylinder 17 of the present embodiment and the fit structure of telescopic rod 18 are as shown in Figure 5；Chess cylinder 17 with
And the fit structure of telescopic rod 18 can be to be respectively equipped on the wall of two sides of the bottom and incline as shown in fig. 6,17 bottom of chess cylinder is downwardly open
There are the elastic slice 22 in gap among tiltedly placing, chess piece is set on elastic slice 22, and the telescopic rod 18 is set to inside chess cylinder 17, is stretched
Bar 18 can be lead screw transmission mechanism, and in a non-operative state, chess piece is stationary under the blocking of elastic slice 22, when screw rod drives
Chess piece is squeezed when push plate 23 acts to release chess piece by the gap among elastic slice 22.
1 upper surface of pedestal is provided with a pedestal blind hole 101, and a pair of of angular contact bearing 102 is equipped in pedestal blind hole 101, erects
Direct rotary turns support vertical shaft 2 in such a way that pedestal blind hole 101 and angular contact bearing 102 carry out hole axle cooperation in end cap 3, pedestal 1
Between hole in rotate.
The surface of vertical rotation support vertical shaft 2, which is offered, matches corresponding first axle with the position of angular contact bearing 102
Shoulder 201, the surface of vertical rotation support vertical shaft 2 offer second shaft shoulder 202 and spiral shell with the cooperation of 9 hole axle of the second belt wheel respectively
The axis external screw thread 203 that female column 10, guide rail splice 12,11 hole axle of stop nut cooperate.
Base threaded hole 103 between horizontal mounting plate 4 and pedestal 1 is connected through a screw thread to form band tensioning apparatus.Vertically
Mounting plate 4,6 side of horizontal mounting plate are equipped with threaded hole, and horizontal mounting plate 6 sets that there are six the screw threads cooperated with first motor 5
Hole, the first pulley 7, the second belt wheel 9 are fixedly installed in first motor 5, vertical rotation support vertical shaft 2 respectively, it is tight and
Tight transmission belt 8.
As shown in fig. 7, the invention discloses the control system of the above-mentioned portable mechanical arm of playing chess for man-machine chess, packet
The portable mechanical arm of playing chess for being used for man-machine chess described in embodiment 1 is included, further includes sequentially connected computer, controller；Institute
Controller is stated to connect with first motor 5, the second motor 13, third motor 20 respectively；First motor 5, the second motor 13, third electricity
Machine 20 is connect with current sensor respectively, and the controller is connect with current sensor, alarm lamp respectively；The controller, electricity
Flow sensor, alarm lamp are separately mounted on pedestal 1.
The invention discloses the utilization method of the control system of the above-mentioned portable mechanical arm of playing chess for man-machine chess, packets
Include following steps:
(S1) the mating chessboard coordinate program in computer receive computer begin coordinate signal when, send a command to control
Device processed；
(S2) controller sends order-driven first motor 5 and turns an angle, and chess cylinder 17 is moved to coordinate pair of beginning
The chessboard polar angle answered；
(S3) screw rod 14 that controller sends the second motor of order-driven 13 rotates certain revolution, the cunning that will cooperate with screw rod
15 straight-line feed of block moves to coordinate corresponding position of beginning；
(S4) controller sends order-driven third motor 20, is contained in the linear motion of telescopic rod 18 will in chess cylinder 17
Chess piece is released；
(S5) controller sends order-driven first motor 5, the second motor 13, third motor 20 and resets.
Wherein, when the monitoring control devices are greater than preset value to the current value that current sensor detects, driving alarm lamp hair
Light early warning, the fuse trip when electric current is persistently greater than preset value, in control circuit.
Claims (10)
1. a kind of mechanical arm of playing chess for man-machine chess, which is characterized in that including pedestal (1), be movably arranged on pedestal (1)
Vertical shaft (2), be equipped with first motor (5) on the pedestal (1) in the side of vertical shaft (2), first motor is installed on (5)
Have first pulley (7), be equipped on vertical shaft (2) the second belt wheel (9), connection first pulley (7) and the second belt wheel (9) be used for make
The transmission belt (8) that vertical shaft (2) is rotated with the rotation of first motor (5)；Being connected on the vertical shaft (2) can be with vertical shaft (2)
It rotates and the lead screw transmission mechanism of rotation, the lower part for storing chess piece is connected in the lead screw transmission mechanism and is equipped with opening
(21) chess cylinder (17), the chess cylinder (17) can move along a straight line with the transmission of lead screw transmission mechanism, the lead screw transmission mechanism
It is connected with and cooperates the telescopic rod (18) for releasing chess piece with chess cylinder lower openings, telescopic rod (18) is connected with third motor (20).
2. the mechanical arm of playing chess according to claim 1 for man-machine chess, which is characterized in that the lead screw transmission mechanism
Including the second motor (13), screw rod (14) are connected on the second motor (13), being set on screw rod (14) can be with screw rod (14)
The sliding block (15) for rotating and moving along a straight line, the sliding block (15) connect chess cylinder (17).
3. the mechanical arm of playing chess according to claim 1 for man-machine chess, which is characterized in that the lead screw transmission mechanism
Driving member be connected be respectively used to installation chess cylinder (17), telescopic rod (18) connecting plate (16), the chess cylinder (17), telescopic rod
(18) it is moved synchronously with connecting plate (16).
4. the mechanical arm of playing chess according to claim 1 for man-machine chess, which is characterized in that chess cylinder (17) are opened
Mouth (21) is set on the opposite two sidewalls in bottom, and the opening (21) of two sidewalls forms through-hole, and the telescopic rod (18) is set to
The telescopic end of the outside of chess cylinder (17), telescopic rod (18) is matched with an aperture position on chess cylinder (17) side wall, telescopic rod
(18) by end to be reached to the opening of chess cylinder (17) after third motor (20) driving, chess piece is pushed outwardly from through-hole.
5. the mechanical arm of playing chess according to claim 4 for man-machine chess, which is characterized in that the opening (21) is formed
Via height be no more than two pieces of chess pieces superposition height.
6. the mechanical arm of playing chess according to claim 1 for man-machine chess, which is characterized in that chess cylinder (17) are opened
Mouthful (21) are set to that bottom is downward, be respectively equipped among slant setting on opposite two sidewalls at chess cylinder (17) opening (21) there are
The elastic slice (22) for carrying chess piece weight in gap, chess piece are set on elastic slice (22)；The telescopic rod (18) is set to chess cylinder
(17) internal, chess piece is stationary under the blocking of two elastic slices (22), when telescopic rod (18) is driven backward by third motor (20)
When lower stretching, squeezes chess piece and released chess piece downwards from bottom by the gap between two elastic slices (22).
7. the mechanical arm of playing chess according to claim 1 for man-machine chess, which is characterized in that opened on the pedestal (1)
There is the blind hole (101) for being inserted into the lower end of vertical shaft (2), angular contact bearing (102), institute are installed in the blind hole (101)
State vertical shaft (2) rotation in blind hole (101) in such a way that angular contact bearing (102) carry out hole axle cooperation.
8. a kind of control system with the mechanical arm of playing chess for being used for man-machine chess described in claim 1, which is characterized in that also wrap
Include the computer being connected, controller；The controller respectively with first motor (5), the second motor (13), third motor (20)
Connection；First motor (5), the second motor (13), third motor (20) are connect with current sensor respectively, the controller difference
It is connect with current sensor, alarm lamp；The controller, current sensor, alarm lamp are separately mounted on pedestal (1)；It is described
Computer contains mating chessboard coordinate program.
9. a kind of method of the control system using the mechanical arm of playing chess for being used for man-machine chess described in claim 8, feature exist
In, comprising the following steps:
(S1) computer sends a command to controller according to the mating chessboard coordinate program coordinate signal that will begin；
(S2) controller sends the angle of order-driven first motor (5) rotation setting, and chess cylinder (17) is moved to coordinate pair of beginning
The chessboard polar angle answered；
(S3) controller sends the second motor of order-driven (13) and rotates corresponding revolution, and the linear motion of screw rod is made to drive chess cylinder
(17) coordinate corresponding position of beginning is moved in a straight line；
(S4) controller send order-driven third motor (20) chess piece for being contained in telescopic rod (18) will in chess cylinder (17) from
It is open in (21) and releases；
(S5) controller sends order-driven first motor (5), the second motor (13), third motor (20) reset.
10. according to claim 9 using the method for the control system of the mechanical arm of playing chess for man-machine chess, feature exists
In, when the current value that the monitoring control devices to current sensor detect is greater than preset value, the luminous early warning of driving alarm lamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910634882.XA CN110405781B (en) | 2019-07-15 | 2019-07-15 | Chess playing mechanical arm for man-machine chess playing, control system and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910634882.XA CN110405781B (en) | 2019-07-15 | 2019-07-15 | Chess playing mechanical arm for man-machine chess playing, control system and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110405781A true CN110405781A (en) | 2019-11-05 |
| CN110405781B CN110405781B (en) | 2022-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910634882.XA Active CN110405781B (en) | 2019-07-15 | 2019-07-15 | Chess playing mechanical arm for man-machine chess playing, control system and method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110802631A (en) * | 2019-11-27 | 2020-02-18 | 江苏德普尔门控科技有限公司 | Material grabbing manipulator for detecting door control electronic accessories |
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| JP2008295651A (en) * | 2007-05-30 | 2008-12-11 | Takao Hayashi | Shogi playing robot |
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| CN110405781B (en) | 2022-05-17 |
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